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<FONT color="green">001</FONT>    package maze.model;<a name="line.1"></a>
<FONT color="green">002</FONT>    <a name="line.2"></a>
<FONT color="green">003</FONT>    import java.awt.Dimension;<a name="line.3"></a>
<FONT color="green">004</FONT>    import java.util.HashSet;<a name="line.4"></a>
<FONT color="green">005</FONT>    import java.util.List;<a name="line.5"></a>
<FONT color="green">006</FONT>    import java.util.Set;<a name="line.6"></a>
<FONT color="green">007</FONT>    <a name="line.7"></a>
<FONT color="green">008</FONT>    import maze.ai.RobotStep;<a name="line.8"></a>
<FONT color="green">009</FONT>    <a name="line.9"></a>
<FONT color="green">010</FONT>    /**<a name="line.10"></a>
<FONT color="green">011</FONT>     * Holds data and provides information about the robots journey through the<a name="line.11"></a>
<FONT color="green">012</FONT>     * maze. This class holds an instance of a MazeModel and provides indirect<a name="line.12"></a>
<FONT color="green">013</FONT>     * access to it for the AI algorithms.<a name="line.13"></a>
<FONT color="green">014</FONT>     * @author Luke Last<a name="line.14"></a>
<FONT color="green">015</FONT>     */<a name="line.15"></a>
<FONT color="green">016</FONT>    public class RobotModelMaster<a name="line.16"></a>
<FONT color="green">017</FONT>    {<a name="line.17"></a>
<FONT color="green">018</FONT>       /**<a name="line.18"></a>
<FONT color="green">019</FONT>        * The maze model that backs this robot model.<a name="line.19"></a>
<FONT color="green">020</FONT>        */<a name="line.20"></a>
<FONT color="green">021</FONT>       private final MazeModel mazeModel;<a name="line.21"></a>
<FONT color="green">022</FONT>       /**<a name="line.22"></a>
<FONT color="green">023</FONT>        * The current location of the robot.<a name="line.23"></a>
<FONT color="green">024</FONT>        */<a name="line.24"></a>
<FONT color="green">025</FONT>       private MazeCell currentLocation;<a name="line.25"></a>
<FONT color="green">026</FONT>       /**<a name="line.26"></a>
<FONT color="green">027</FONT>        * The direction the robot is currently facing.<a name="line.27"></a>
<FONT color="green">028</FONT>        */<a name="line.28"></a>
<FONT color="green">029</FONT>       private Direction direction = Direction.North;<a name="line.29"></a>
<FONT color="green">030</FONT>       /**<a name="line.30"></a>
<FONT color="green">031</FONT>        * Stores all the information about where the robot has been.<a name="line.31"></a>
<FONT color="green">032</FONT>        */<a name="line.32"></a>
<FONT color="green">033</FONT>       private final RobotPathModel robotPathModel;<a name="line.33"></a>
<FONT color="green">034</FONT>    <a name="line.34"></a>
<FONT color="green">035</FONT>       /**<a name="line.35"></a>
<FONT color="green">036</FONT>        * Sole constructor.<a name="line.36"></a>
<FONT color="green">037</FONT>        * @param mazeModel The maze model that will back this robot model. Can only<a name="line.37"></a>
<FONT color="green">038</FONT>        *           be set once here.<a name="line.38"></a>
<FONT color="green">039</FONT>        * @param currentLocation The starting location of the robot.<a name="line.39"></a>
<FONT color="green">040</FONT>        * @param direction The starting direction of the robot.<a name="line.40"></a>
<FONT color="green">041</FONT>        */<a name="line.41"></a>
<FONT color="green">042</FONT>       public RobotModelMaster(MazeModel mazeModel, MazeCell currentLocation, Direction direction)<a name="line.42"></a>
<FONT color="green">043</FONT>       {<a name="line.43"></a>
<FONT color="green">044</FONT>          if (mazeModel == null)<a name="line.44"></a>
<FONT color="green">045</FONT>             throw new IllegalArgumentException("MazeModel cannot be null");<a name="line.45"></a>
<FONT color="green">046</FONT>    <a name="line.46"></a>
<FONT color="green">047</FONT>          this.mazeModel = mazeModel;<a name="line.47"></a>
<FONT color="green">048</FONT>          if (currentLocation == null)<a name="line.48"></a>
<FONT color="green">049</FONT>             currentLocation = new MazeCell(1, this.mazeModel.getSize().height);<a name="line.49"></a>
<FONT color="green">050</FONT>          this.currentLocation = currentLocation;<a name="line.50"></a>
<FONT color="green">051</FONT>          if (direction == null)<a name="line.51"></a>
<FONT color="green">052</FONT>             direction = Direction.North;<a name="line.52"></a>
<FONT color="green">053</FONT>          this.direction = direction;<a name="line.53"></a>
<FONT color="green">054</FONT>    <a name="line.54"></a>
<FONT color="green">055</FONT>          MazeCell startCell = new MazeCell(1, mazeModel.getSize().height);<a name="line.55"></a>
<FONT color="green">056</FONT>    <a name="line.56"></a>
<FONT color="green">057</FONT>          this.robotPathModel = new RobotPathModel(startCell);<a name="line.57"></a>
<FONT color="green">058</FONT>          this.robotPathModel.addLocation(startCell);<a name="line.58"></a>
<FONT color="green">059</FONT>       }<a name="line.59"></a>
<FONT color="green">060</FONT>    <a name="line.60"></a>
<FONT color="green">061</FONT>       /**<a name="line.61"></a>
<FONT color="green">062</FONT>        * Tells if a wall exists in the given direction from the robots current<a name="line.62"></a>
<FONT color="green">063</FONT>        * location.<a name="line.63"></a>
<FONT color="green">064</FONT>        * @param direction The direction to look.<a name="line.64"></a>
<FONT color="green">065</FONT>        * @return True if a wall exists.<a name="line.65"></a>
<FONT color="green">066</FONT>        */<a name="line.66"></a>
<FONT color="green">067</FONT>       public boolean isWall(Direction direction)<a name="line.67"></a>
<FONT color="green">068</FONT>       {<a name="line.68"></a>
<FONT color="green">069</FONT>          return this.mazeModel.getWall(this.currentLocation, direction).isSet();<a name="line.69"></a>
<FONT color="green">070</FONT>       }<a name="line.70"></a>
<FONT color="green">071</FONT>    <a name="line.71"></a>
<FONT color="green">072</FONT>       public Dimension getMazeSize()<a name="line.72"></a>
<FONT color="green">073</FONT>       {<a name="line.73"></a>
<FONT color="green">074</FONT>          return this.mazeModel.getSize();<a name="line.74"></a>
<FONT color="green">075</FONT>       }<a name="line.75"></a>
<FONT color="green">076</FONT>    <a name="line.76"></a>
<FONT color="green">077</FONT>       public MazeCell getCurrentLocation()<a name="line.77"></a>
<FONT color="green">078</FONT>       {<a name="line.78"></a>
<FONT color="green">079</FONT>          return currentLocation;<a name="line.79"></a>
<FONT color="green">080</FONT>       }<a name="line.80"></a>
<FONT color="green">081</FONT>    <a name="line.81"></a>
<FONT color="green">082</FONT>       public void setCurrentLocation(MazeCell location)<a name="line.82"></a>
<FONT color="green">083</FONT>       {<a name="line.83"></a>
<FONT color="green">084</FONT>          this.currentLocation = location;<a name="line.84"></a>
<FONT color="green">085</FONT>       }<a name="line.85"></a>
<FONT color="green">086</FONT>    <a name="line.86"></a>
<FONT color="green">087</FONT>       public Direction getDirection()<a name="line.87"></a>
<FONT color="green">088</FONT>       {<a name="line.88"></a>
<FONT color="green">089</FONT>          return direction;<a name="line.89"></a>
<FONT color="green">090</FONT>       }<a name="line.90"></a>
<FONT color="green">091</FONT>    <a name="line.91"></a>
<FONT color="green">092</FONT>       public void setDirection(Direction direction)<a name="line.92"></a>
<FONT color="green">093</FONT>       {<a name="line.93"></a>
<FONT color="green">094</FONT>          this.direction = direction;<a name="line.94"></a>
<FONT color="green">095</FONT>       }<a name="line.95"></a>
<FONT color="green">096</FONT>    <a name="line.96"></a>
<FONT color="green">097</FONT>       public MazeModel getMazeModel()<a name="line.97"></a>
<FONT color="green">098</FONT>       {<a name="line.98"></a>
<FONT color="green">099</FONT>          return mazeModel;<a name="line.99"></a>
<FONT color="green">100</FONT>       }<a name="line.100"></a>
<FONT color="green">101</FONT>    <a name="line.101"></a>
<FONT color="green">102</FONT>       /**<a name="line.102"></a>
<FONT color="green">103</FONT>        * Attempts to move the robot with the given step.<a name="line.103"></a>
<FONT color="green">104</FONT>        * @param nextStep The step/move to be taken.<a name="line.104"></a>
<FONT color="green">105</FONT>        */<a name="line.105"></a>
<FONT color="green">106</FONT>       public void takeNextStep(final RobotStep nextStep) throws RobotCrashedException<a name="line.106"></a>
<FONT color="green">107</FONT>       {<a name="line.107"></a>
<FONT color="green">108</FONT>          Direction moveDirection = null;<a name="line.108"></a>
<FONT color="green">109</FONT>          switch (nextStep)<a name="line.109"></a>
<FONT color="green">110</FONT>          {<a name="line.110"></a>
<FONT color="green">111</FONT>             case RotateLeft :<a name="line.111"></a>
<FONT color="green">112</FONT>                this.direction = direction.getLeft();<a name="line.112"></a>
<FONT color="green">113</FONT>                break;<a name="line.113"></a>
<FONT color="green">114</FONT>             case RotateRight :<a name="line.114"></a>
<FONT color="green">115</FONT>                this.direction = direction.getRight();<a name="line.115"></a>
<FONT color="green">116</FONT>                break;<a name="line.116"></a>
<FONT color="green">117</FONT>             case MoveForward :<a name="line.117"></a>
<FONT color="green">118</FONT>                moveDirection = this.direction;<a name="line.118"></a>
<FONT color="green">119</FONT>                break;<a name="line.119"></a>
<FONT color="green">120</FONT>             case MoveBackward :<a name="line.120"></a>
<FONT color="green">121</FONT>                moveDirection = this.direction.getOpposite();<a name="line.121"></a>
<FONT color="green">122</FONT>                break;<a name="line.122"></a>
<FONT color="green">123</FONT>             default :<a name="line.123"></a>
<FONT color="green">124</FONT>                throw new IllegalArgumentException("Invalid step: " + nextStep);<a name="line.124"></a>
<FONT color="green">125</FONT>          }<a name="line.125"></a>
<FONT color="green">126</FONT>    <a name="line.126"></a>
<FONT color="green">127</FONT>          if (moveDirection != null)<a name="line.127"></a>
<FONT color="green">128</FONT>          {<a name="line.128"></a>
<FONT color="green">129</FONT>             if (this.isWall(moveDirection))<a name="line.129"></a>
<FONT color="green">130</FONT>             {<a name="line.130"></a>
<FONT color="green">131</FONT>                throw new RobotCrashedException(this.currentLocation, moveDirection);<a name="line.131"></a>
<FONT color="green">132</FONT>             }<a name="line.132"></a>
<FONT color="green">133</FONT>             else<a name="line.133"></a>
<FONT color="green">134</FONT>             {<a name="line.134"></a>
<FONT color="green">135</FONT>                this.currentLocation = this.currentLocation.neighbor(moveDirection);<a name="line.135"></a>
<FONT color="green">136</FONT>                this.robotPathModel.addLocation(this.currentLocation);<a name="line.136"></a>
<FONT color="green">137</FONT>             }<a name="line.137"></a>
<FONT color="green">138</FONT>          }<a name="line.138"></a>
<FONT color="green">139</FONT>    <a name="line.139"></a>
<FONT color="green">140</FONT>          // Are we in a winning cell?<a name="line.140"></a>
<FONT color="green">141</FONT>          if (this.isAtCenter())<a name="line.141"></a>
<FONT color="green">142</FONT>          {<a name="line.142"></a>
<FONT color="green">143</FONT>             if (this.robotPathModel.getPathFirst().isEmpty())<a name="line.143"></a>
<FONT color="green">144</FONT>             {<a name="line.144"></a>
<FONT color="green">145</FONT>                // This is the first time the robot has won so use the current path for first and best.<a name="line.145"></a>
<FONT color="green">146</FONT>                this.robotPathModel.getPathFirst().addAll(this.robotPathModel.getPathCurrent());<a name="line.146"></a>
<FONT color="green">147</FONT>                this.robotPathModel.getPathBest().addAll(this.robotPathModel.getPathCurrent());<a name="line.147"></a>
<FONT color="green">148</FONT>             }<a name="line.148"></a>
<FONT color="green">149</FONT>             else<a name="line.149"></a>
<FONT color="green">150</FONT>             { // First run was not empty.<a name="line.150"></a>
<FONT color="green">151</FONT>                MazeCell startCell = new MazeCell(1, mazeModel.getSize().height);<a name="line.151"></a>
<FONT color="green">152</FONT>                final List&lt;MazeCell&gt; pathTaken = this.robotPathModel.getPathCurrent();<a name="line.152"></a>
<FONT color="green">153</FONT>                if ( (this.robotPathModel.pathBest.size()) &gt; (pathTaken.size() - (pathTaken.lastIndexOf(startCell) + 1)))<a name="line.153"></a>
<FONT color="green">154</FONT>                {<a name="line.154"></a>
<FONT color="green">155</FONT>                   this.robotPathModel.pathBest.clear();<a name="line.155"></a>
<FONT color="green">156</FONT>                   for (int i = pathTaken.lastIndexOf(startCell); i &lt; pathTaken.size(); i++)<a name="line.156"></a>
<FONT color="green">157</FONT>                   {<a name="line.157"></a>
<FONT color="green">158</FONT>                      this.robotPathModel.pathBest.add(pathTaken.get(i));<a name="line.158"></a>
<FONT color="green">159</FONT>                   }<a name="line.159"></a>
<FONT color="green">160</FONT>                }<a name="line.160"></a>
<FONT color="green">161</FONT>             }<a name="line.161"></a>
<FONT color="green">162</FONT>          }<a name="line.162"></a>
<FONT color="green">163</FONT>       }<a name="line.163"></a>
<FONT color="green">164</FONT>    <a name="line.164"></a>
<FONT color="green">165</FONT>       public Set&lt;MazeCell&gt; getNonHistory()<a name="line.165"></a>
<FONT color="green">166</FONT>       {<a name="line.166"></a>
<FONT color="green">167</FONT>          final Set&lt;MazeCell&gt; nonHistory = new HashSet&lt;MazeCell&gt;(256);<a name="line.167"></a>
<FONT color="green">168</FONT>          for (int i = 1; i &lt;= mazeModel.getSize().width; i++)<a name="line.168"></a>
<FONT color="green">169</FONT>          {<a name="line.169"></a>
<FONT color="green">170</FONT>             for (int j = 1; j &lt;= mazeModel.getSize().height; j++)<a name="line.170"></a>
<FONT color="green">171</FONT>             {<a name="line.171"></a>
<FONT color="green">172</FONT>                MazeCell here = new MazeCell(i, j);<a name="line.172"></a>
<FONT color="green">173</FONT>                if (!this.robotPathModel.hasCellBeenVisited(here))<a name="line.173"></a>
<FONT color="green">174</FONT>                {<a name="line.174"></a>
<FONT color="green">175</FONT>                   nonHistory.add(here);<a name="line.175"></a>
<FONT color="green">176</FONT>                }<a name="line.176"></a>
<FONT color="green">177</FONT>             }<a name="line.177"></a>
<FONT color="green">178</FONT>          }<a name="line.178"></a>
<FONT color="green">179</FONT>          return nonHistory;<a name="line.179"></a>
<FONT color="green">180</FONT>       }<a name="line.180"></a>
<FONT color="green">181</FONT>    <a name="line.181"></a>
<FONT color="green">182</FONT>       public List&lt;MazeCell&gt; getFirstRun()<a name="line.182"></a>
<FONT color="green">183</FONT>       {<a name="line.183"></a>
<FONT color="green">184</FONT>          return this.robotPathModel.getPathFirst();<a name="line.184"></a>
<FONT color="green">185</FONT>       }<a name="line.185"></a>
<FONT color="green">186</FONT>    <a name="line.186"></a>
<FONT color="green">187</FONT>       public List&lt;MazeCell&gt; getBestRun()<a name="line.187"></a>
<FONT color="green">188</FONT>       {<a name="line.188"></a>
<FONT color="green">189</FONT>          return this.robotPathModel.pathBest;<a name="line.189"></a>
<FONT color="green">190</FONT>       }<a name="line.190"></a>
<FONT color="green">191</FONT>    <a name="line.191"></a>
<FONT color="green">192</FONT>       public RobotPathModel getRobotPathModel()<a name="line.192"></a>
<FONT color="green">193</FONT>       {<a name="line.193"></a>
<FONT color="green">194</FONT>          return this.robotPathModel;<a name="line.194"></a>
<FONT color="green">195</FONT>       }<a name="line.195"></a>
<FONT color="green">196</FONT>    <a name="line.196"></a>
<FONT color="green">197</FONT>       /**<a name="line.197"></a>
<FONT color="green">198</FONT>        * Tells you if the robot is currently at the starting position.<a name="line.198"></a>
<FONT color="green">199</FONT>        * @return true if the current robot location is at the start of the maze.<a name="line.199"></a>
<FONT color="green">200</FONT>        */<a name="line.200"></a>
<FONT color="green">201</FONT>       public boolean isAtStart()<a name="line.201"></a>
<FONT color="green">202</FONT>       {<a name="line.202"></a>
<FONT color="green">203</FONT>          MazeCell start = new MazeCell(1, this.mazeModel.getSize().height);<a name="line.203"></a>
<FONT color="green">204</FONT>          if (this.currentLocation.equals(start))<a name="line.204"></a>
<FONT color="green">205</FONT>          {<a name="line.205"></a>
<FONT color="green">206</FONT>             return true;<a name="line.206"></a>
<FONT color="green">207</FONT>          }<a name="line.207"></a>
<FONT color="green">208</FONT>          return false;<a name="line.208"></a>
<FONT color="green">209</FONT>       }<a name="line.209"></a>
<FONT color="green">210</FONT>    <a name="line.210"></a>
<FONT color="green">211</FONT>       /**<a name="line.211"></a>
<FONT color="green">212</FONT>        * Tells you if the robot is in the center 2x2 box. The winning area.<a name="line.212"></a>
<FONT color="green">213</FONT>        * @return true if the current robot location is in the winning area.<a name="line.213"></a>
<FONT color="green">214</FONT>        */<a name="line.214"></a>
<FONT color="green">215</FONT>       public boolean isAtCenter()<a name="line.215"></a>
<FONT color="green">216</FONT>       {<a name="line.216"></a>
<FONT color="green">217</FONT>          MazeCell goal1 = new MazeCell(this.mazeModel.getSize().width / 2,<a name="line.217"></a>
<FONT color="green">218</FONT>                                        this.mazeModel.getSize().height / 2);<a name="line.218"></a>
<FONT color="green">219</FONT>          MazeCell goal2 = goal1.plusX(1);<a name="line.219"></a>
<FONT color="green">220</FONT>          MazeCell goal3 = goal1.plusY(1);<a name="line.220"></a>
<FONT color="green">221</FONT>          MazeCell goal4 = goal3.plusX(1);<a name="line.221"></a>
<FONT color="green">222</FONT>          if ( (this.currentLocation.equals(goal1)) ||<a name="line.222"></a>
<FONT color="green">223</FONT>              (this.currentLocation.equals(goal2)) ||<a name="line.223"></a>
<FONT color="green">224</FONT>              (this.currentLocation.equals(goal3)) ||<a name="line.224"></a>
<FONT color="green">225</FONT>              (this.currentLocation.equals(goal4)))<a name="line.225"></a>
<FONT color="green">226</FONT>          {<a name="line.226"></a>
<FONT color="green">227</FONT>             return true;<a name="line.227"></a>
<FONT color="green">228</FONT>          }<a name="line.228"></a>
<FONT color="green">229</FONT>          return false;<a name="line.229"></a>
<FONT color="green">230</FONT>       }<a name="line.230"></a>
<FONT color="green">231</FONT>    <a name="line.231"></a>
<FONT color="green">232</FONT>       public static final class RobotCrashedException extends Exception<a name="line.232"></a>
<FONT color="green">233</FONT>       {<a name="line.233"></a>
<FONT color="green">234</FONT>          public RobotCrashedException(MazeCell currentLocation, Direction attemptedDirection)<a name="line.234"></a>
<FONT color="green">235</FONT>          {<a name="line.235"></a>
<FONT color="green">236</FONT>             super("The mouse crashed into a wall going " +<a name="line.236"></a>
<FONT color="green">237</FONT>                   attemptedDirection +<a name="line.237"></a>
<FONT color="green">238</FONT>                   " from cell " +<a name="line.238"></a>
<FONT color="green">239</FONT>                   currentLocation);<a name="line.239"></a>
<FONT color="green">240</FONT>          }<a name="line.240"></a>
<FONT color="green">241</FONT>       }<a name="line.241"></a>
<FONT color="green">242</FONT>    }<a name="line.242"></a>




























































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